Design of variable curvature lane changing control system based on inverse system decoupling
| Autor: | Linfeng Zhao, Wuwei Chen, Xiutian Liang, Zhang Ruichen, Guang Xia, Wang Qidong |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
050210 logistics & transportation
Inverse system Computer science Mechanical Engineering 05 social sciences Aerospace Engineering 02 engineering and technology 021001 nanoscience & nanotechnology Curvature Variable (computer science) Control theory Control system 0502 economics and business Obstacle avoidance Motion planning 0210 nano-technology Decoupling (electronics) |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 235:527-540 |
| ISSN: | 2041-2991 0954-4070 |
| DOI: | 10.1177/0954407020954629 |
| Popis: | At present, the lane changing technology for a single driving environment has been relatively mature, but the actual situations are much more complicated, such as the changing curvature and the changes in road conditions. In this paper, a new lane changing obstacle avoidance control strategy for the variable curvature road was proposed. It has two stages including path planning for variable curvature lane changing and inverse system decoupling (ISD) control for path tracking. The first stage established the lane changing path models for the variable curvature road. A longitudinal-lateral safe distance model was proposed to constrain the safe boundary of the lane changing path. The second stage proposed a dynamic decoupling method for longitudinal and lateral motion based on the inverse system decoupling, a direct yaw moment and active front wheel steering coordinated control method was designed. The inverse system decoupling algorithm can correct the single point preview (SPP) method to improve the stability and the path tracking accuracy in the lane changing obstacle avoidance process. The strategy was simulated by CarSim/Simulink co-simulation, and the experiments were carried out on the hardware-in-the-loop platform. The results show that the proposed control strategy can effectively avoid obstacles when the vehicle is driving on the variable curvature road. Besides, for the different road conditions and the strong non-linearity generated during the lane changing process, the control strategy can reduce the tracking error by a maximum of 32.7%, both the yaw rate and side slip angle can be controlled in a smaller range. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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